Proposal of the Teaching Method for Symmetric Repetitive Motion in String Knotting


This paper focuses on the manipulation of flexible objects by a dual-armed robot. We propose the method to simplify teaching by proposing candidate grasping and moving points based on the past teaching data when the same operation is repeated, including symmetrical cases, in the teaching and replay system for knotting operations. The effectiveness of the proposed method is verified by replaying the teaching data using the proposed method.

2023 JSME Conference on Robotics and Mechatronics (ROBOMECH2023)